Modelling and Simulation in Science, Technology and Engineering Mathematics by Surajit Chattopadhyay & Tamal Roy & Samarjit Sengupta & Christian Berger-Vachon

Author:Surajit Chattopadhyay & Tamal Roy & Samarjit Sengupta & Christian Berger-Vachon
Language: eng
Format: epub
ISBN: 9783319748085
Publisher: Springer International Publishing

R a

L a

J

B

K

K b

K T

0.43401

0.00073

0.00620

0.00043

0.43025

0.00329

0.00329

Fig. 5Open loop system response in simulation environment

From Fig. 5 it can be clearly shown that due to parameter uncertainties and unknown constant, the real time output varies from simulation output though same input is given to the real time DC motor model (16) as well as to the simulation model (12). To produce effective control law for such system the uncertainties must be properly estimated and adapted. In this present paper, L1 adaptive controller is run in an online manner to get proper estimation of those uncertainties and then from L1 adaptive law those uncertainties are adapted to produce efficient control signal.

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